Pole placement parameterisation for full-state feedback with minimal dimensionality and range

2021 ◽

Vol 9 (2) ◽

pp. 415

Author(s):

NUR SULISTYAWATI ◽

FAHMIZAL FAHMIZAL ◽

IOTA NATHASYA

Keyword(s):

Steady State ◽

State Feedback ◽

Dc Motor ◽

Buck Converter ◽

Settling Time ◽

Pole Placement ◽

Full State ◽

Full State Feedback ◽

Rising Time ◽

State Error

ABSTRAKMakalah ini menyajikan penjelasan tentang penerepan full state feedback menggunakan metode pole placement pada sistem buck converter dengan Motor DC. Penambahan komponen buck converter diharapkan dapat membantu menaikkan nilai efisiensi sistem dan memperpanjang umur komponen switch yang digunakan. Namun terkadang sistem ini masih memerlukan kendali untuk dapat memaksimalkan perfoma sistem baik dari segi rising time, settling time maupun error steady state dari sistem. Simulasi kendali full state feedback menggunakan pole placement disimulasikan dengan pemodelan buck converter dan motor DC menggunakan Simscape dan Simulink pada Matlab. Dari hasil simulasi diperoleh bahwa kendali pole placement mampu menghasilkan kondisi rising time 1.4508s, settling time 2.5729s sedangkan kendali LQR lebih lambat 0.9524s untuk rising time dan 4.3603s untuk settling time saat diuji dengan sinyal step. Selain itu, penambahan pre compensator (Nbar) telah membuat sistem mampu mencapai nilai referensi yang diharapkan (error steady state menuju nol).Kata kunci: Motor DC, Buck Converter, Pole Placement. ABSTRACTThis paper presents an explanation of the advanced full state feedback using the pole placement method in a buck converter system with a DC motor. The addition of buck converter components is expected to help increase the value of system efficiency and extend the life of the switch components used. However, sometimes this system still requires control to be able to maximize system performance in terms of both the rising time, the settling time and the steady state error of the system. Full state feedback control simulation using pole placement is simulated by modeling the buck converter and DC motor using Simscape and Simulink in Matlab. The simulation results show that the pole placement control is capable of producing a rising time of 1.4508s, settling time of 2.5729s, while LQR control is 0.9524s slower for rising time and 4.3603s for settling time when tested with step signals. In addition, the addition of a pre compensator (Nbar) has made the system able to reach the expected reference value (steady state error goes to zero).Keywords: DC Motor, Buck Converter, Pole Placement.

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Full state feedback controller design for active engine mounting system using PID, pole placement and LQR

International Journal of Vehicle Systems Modelling and Testing ◽

10.1504/ijvsmt.2014.066504 ◽

2014 ◽

Vol 9 (3/4) ◽

pp. 218

Author(s):

Ahmed Murgab Mohammed Mahil ◽

Waleed F. Faris

Keyword(s):

State Feedback ◽

Controller Design ◽

Feedback Controller ◽

Pole Placement ◽

State Feedback Controller ◽

Full State ◽

Full State Feedback ◽

Active Engine

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Flexible-Joint Humanoid Balancing Augmentation via Full-State Feedback Variable Impedance Control

Journal of Mechanisms and Robotics ◽

10.1115/1.4049648 ◽

2021 ◽

Vol 13 (2) ◽

Author(s):

Emmanouil Spyrakos-Papastavridis ◽

Jian S. Dai

Keyword(s):

State Feedback ◽

Position Control ◽

Impedance Control ◽

Humanoid Robots ◽

Flexible Joint ◽

Model Free ◽

Floating Base ◽

Full State ◽

Full State Feedback ◽

Series Elastic Actuators

Abstract This paper attempts to address the quandary of flexible-joint humanoid balancing performance augmentation, via the introduction of the Full-State Feedback Variable Impedance Control (FSFVIC), and Model-Free Compliant Floating-base VIC (MCFVIC) schemes. In comparison to rigid-joint humanoid robots, efficient balancing control of compliant bipeds, powered by Series Elastic Actuators (or harmonic drives), requires the design of more sophisticated controllers encapsulating both the motor and underactuated link dynamics. It has been demonstrated that Variable Impedance Control (VIC) can improve robotic interaction performance, albeit by introducing energy-injecting elements that may jeopardize closed-loop stability. To this end, the novel FSFVIC and MCFVIC schemes are proposed, which amalgamate both collocated and non-collocated feedback gains, with power-shaping signals that are capable of preserving the system's stability/passivity during VIC. The FSFVIC and MCFVIC stably modulate the system's collocated state gains to augment balancing performance, in addition to the non-collocated state gains that dictate the position control accuracy. Utilization of arbitrarily low-impedance gains is permitted by both the FSFVIC and MCFVIC schemes propounded herein. An array of experiments involving the COmpliant huMANoid reveals that significant balancing performance amelioration is achievable through online modulation of the full-state feedback gains (VIC), as compared to utilization of invariant impedance control.

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Realization of full state feedback via delayed output feedback

Proceedings of the 2002 American Control Conference (IEEE Cat. No.CH37301) ◽

10.1109/acc.2002.1025207 ◽

2002 ◽

Author(s):

Zheng Liu ◽

Bingen Yang

Keyword(s):

Output Feedback ◽

State Feedback ◽

Full State ◽

Full State Feedback

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Full state feedback control of a magnetic bearing system using optimal estimation

Proceedings of IECON'94 - 20th Annual Conference of IEEE Industrial Electronics ◽

10.1109/iecon.1994.398138 ◽

2002 ◽

Cited By ~ 1

Author(s):

V. Trent ◽

M. Greene ◽

G. Flowers

Keyword(s):

Feedback Control ◽

State Feedback ◽

Optimal Estimation ◽

Magnetic Bearing ◽

State Feedback Control ◽

Full State ◽

Full State Feedback ◽

Bearing System

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Active Vehicle Suspension Control Using Full State-Feedback Controller

Advanced Materials Research ◽

10.4028/www.scientific.net/amr.1115.440 ◽

2015 ◽

Vol 1115 ◽

pp. 440-445 ◽

Cited By ~ 2

Author(s):

Musa Mohammed Bello ◽

Amir Akramin Shafie ◽

Raisuddin Khan

Keyword(s):

State Feedback ◽

Ride Comfort ◽

Active Suspension ◽

Suspension System ◽

Feedback Controller ◽

Vehicle Suspension ◽

Passive Suspension ◽

Full State ◽

Full State Feedback ◽

Passive Suspension System

The main purpose of vehicle suspension system is to isolate the vehicle main body from any road geometrical irregularity in order to improve the passengers ride comfort and to maintain good handling stability. The present work aim at designing a control system for an active suspension system to be applied in today’s automotive industries. The design implementation involves construction of a state space model for quarter car with two degree of freedom and a development of full state-feedback controller. The performance of the active suspension system was assessed by comparing it response with that of the passive suspension system. Simulation using Matlab/Simulink environment shows that, even at resonant frequency the active suspension system produces a good dynamic response and a better ride comfort when compared to the passive suspension system.

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